POSITIONING CORRECTION FOR ROBOTS.

摘要

A positioning correction for robots, capable of preventing a decrease in the positioning accuracy, which is ascribed to an error specific to a robot. Simultaneous equations including link length errors ( DELTA 11, DELTA 12) and actual angles of rotation ( THETA 1, THETA 2), of first and second links as unknown quantities are solved by using displayed angles of rotation of the first and second links (1, 2), which are obtained by sequentially carrying out the mastering concerning a plurality of known points, to determine the link length errors, errors ( DELTA x0, DELTA y0) of positions of centers of pivotal movements of arms, errors ( DELTA THETA 10, DELTA THETA 20) of angles of rotation of the links. When a robot is operated, the program-designated target positions of transfer of the front ends of the arms on the X- and Y-axes are corrected by using the errors of positions of centers of pivotal movements of the arms, and the actual link lengths are determined by using the link length errors. The angles of rotation of a servomotor relating to the first and second links is determined by a coordinate transformation processing based on the corrected positions of transfer of the front ends of the arms, actual link lengths and errors of angles of rotation of the links.